Systems and methods for a low profile haptic actuator

ABSTRACT

Systems and methods or a low profile haptic actuator are disclosed. In one embodiment, a system for a low profile haptic actuator includes: a moveable surface comprising a first coil, the moveable surface configured to move in a degree of freedom; a fixed surface beneath the moveable surface, the fixed surface comprising a second coil coupled underneath the first coil; a suspension coupled to the fixed surface and the moveable surface and configured to suspend the moveable surface; and a controller coupled to the first coil and the second coil.

FIELD OF THE INVENTION

The present invention generally relates to haptic feedback and moreparticularly to systems and methods for a low profile haptic actuator.

BACKGROUND

Mobile devices have become increasingly popular. In particular, mobiledevices featuring touch enabled interfaces and haptic effects. Forinstance, mobile and other devices may be configured withtouch-sensitive displays so that a user can provide input by touchingportions of the touch-sensitive display. As another example, a touchenabled surface separate from a display may be used for input, such as atrackpad, mouse, or other device. Furthermore, many of these deviceshave become smaller and lighter and consume less power. Thus, there is aneed for systems and methods for a low profile haptic actuator.

SUMMARY

In one embodiment, a system of the present disclosure may comprise amoveable surface comprising a first coil, the moveable surfaceconfigured to move in a degree of freedom; a fixed surface beneath themoveable surface, the fixed surface comprising a second coil coupledunderneath the first coil; a suspension coupled to the fixed surface andthe moveable surface and configured to support the moveable surface; anda controller coupled to the first coil and the second coil.

Another embodiment of the present disclosure may comprise a moveablesurface comprising a plurality of moveable coils, the moveable surfaceconfigured to move in a degree of freedom; a fixed surface beneath themoveable surface, the fixed surface comprising a plurality of fixedcoils coupled underneath the plurality of moveable coils; a suspensioncoupled to the fixed surface and the moveable surface and configured tosupport the moveable surface; and a controller coupled to the pluralityof moveable coils and the plurality of fixed coils.

BRIEF DESCRIPTION OF THE DRAWINGS

A full and enabling disclosure is set forth more particularly in theremainder of the specification. The specification makes reference to thefollowing appended figures.

FIG. 1A shows an illustrative system for a low profile haptic actuator;

FIG. 1B shows an external view of one embodiment of the system shown inFIG. 1A;

FIG. 1C illustrates an external view of another embodiment of the systemshown in FIG. 1A;

FIG. 2A illustrates an example embodiment of a coil for a low profilehaptic actuator according to one embodiment;

FIG. 2B illustrates another example embodiment for a coil for a lowprofile haptic actuator according to one embodiment;

FIG. 3A illustrates an example embodiment for a low profile hapticactuator;

FIG. 3B illustrates another example embodiment for a low profile hapticactuator;

FIG. 4 illustrates another example embodiment for a low profile hapticactuator;

FIG. 5 illustrates another example embodiment for a low profile hapticactuator;

FIG. 6 illustrates another example embodiment for a low profile hapticactuator;

FIG. 7 is a flow chart for operation of a low profile haptic actuatoraccording to one embodiment; and

FIG. 8 is another flow chart for operation of a low profile hapticactuator according to one embodiment.

DETAILED DESCRIPTION

Reference will now be made in detail to various and alternativeillustrative embodiments and to the accompanying drawings. Each exampleis provided by way of explanation, and not as a limitation. It will beapparent to those skilled in the art that modifications and variationscan be made. For instance, features illustrated or described as part ofone embodiment may be used in another embodiment to yield a stillfurther embodiment Thus, it is intended that this disclosure includemodifications and variations as come within the scope of the appendedclaims and their equivalents.

Illustrative Example of a Device for a Low Profile Haptic Actuator

One illustrative embodiment of the present disclosure comprises acomputing system such as a mobile computing device, (e.g., smartphone,tablet, portable music device, or laptop) or another type of computingdevice, e.g., desktop computer, kiosk, ATM, or other computing device.The computing system can include and/or may be in communication with oneor more sensors, such as an accelerometer, as well as sensors (e.g.,optical, resistive, or capacitive) for determining a location of a touchrelative to a display area corresponding in this example to the screenof the device.

The illustrative device comprises a processor configured to determinehaptic effects, e.g., vibrations or surface movements that aredetectible to the user via touch. The processor transmits a signalassociated with these haptic effects to a haptic output deviceconfigured to output the haptic effects. In the illustrative embodiment,this haptic output device comprises a low profile haptic actuator.

In one embodiment, a low profile haptic actuator may comprise a coilcoupled to a fixed surface and a coil coupled to a moving surface,wherein the moving surface is positioned above the fixed surface. Themoveable surface and the fixed surface may be held relatively closetogether by a suspension, e.g., a flexible or resilient material,spring, shock absorber, or some other type of suspension system. Acontroller may provide current to both coils (e.g., AC or DC current),and depending on the polarity of the current applied to each coil, thecoils will attract or repel one another. The action of repelling orattracting causes the moveable surface to move in a degree of freedom,e.g., one or more of vertically or horizontally. Further, in someembodiments, the controller may rapidly change the polarity of thecurrent, causing the moving surface to move rapidly. A user mayexperience this movement as a haptic effect when interacting with theillustrative computing device.

In some embodiments, a touch pad or a touch screen may be positionedovertop of the moveable surface. Thus, a user of the computing devicemay feel haptic effects, such as vibrations or displacements, whileinteracting with the device. These haptic effects may simulate featuresassociated with objects displayed on a user interface associated withthe device. For example, haptic effects may be associated with one ormore of system status, program status, an action occurring in a program(e.g., movement of a character in a game, entry of data in productivityapplication, or receipt of a message in a messaging application), analert that a message has been received, or any other operationassociated with a computing device.

In some embodiments, rather than a single coil, each of the fixedsurface and moveable surface may comprise a plurality of coils. Thisplurality of coils may enable more complex haptic effects, e.g.,different haptic effects at different locations throughout a touchsurface. In still other embodiments, one or more permanent magnets maybe used in place of one or more of the coils. Further, in someembodiments, the moveable surface and any components placed upon it maycomprise a flexible material. Thus, in some embodiments, the hapticeffects may flex or vibrate this flexible surface in one or morelocations in order to output more complex haptic effects.

Further, haptic effects may be output in response to a gesture. Agesture is any movement and/or positioning of the body and/or a physicalobject that conveys meaning or user intent. It will be recognized thatsimple gestures may be combined to form more complex gestures. Forexample, bringing a finger into contact with a surface may be referredto as a “finger on” gesture, while removing a finger from the surfacemay be referred to as a separate “finger off” gesture. If the timebetween the “finger on” and “finger off” gestures is relatively short,the combined gesture may be referred to as “tapping”; if the timebetween the “finger on” and “finger off” gestures is relatively long,the combined gesture may be referred to as “long tapping”; if thedistance between the two dimensional (x, y) positions of the “finger on”and “finger off” gestures is relatively large, the combined gesture maybe referred to as “swiping”; if the distance between the two dimensional(x, y) positions of the “finger on” and “finger off” gestures isrelatively small, the combined gesture may be referred to as “smearing”,“smudging”, or “flicking”. Gestures can additionally or alternatively bethree dimensional. For example, a gesture may comprise positioning abody part and/or a physical object in a particular location in realspace. In some embodiments, if the distance between three dimensional(x, y, z) positions during a finger movement (e.g., in real space) isrelatively large, the combined gesture may be referred to as “swiping.”If the distance between three dimensional (x, y, z) positions during afinger movement is relatively small, the combined gesture may bereferred to as “smearing”, “smudging”, or “flicking.” Any number of twodimensional or three dimensional simple or complex gestures may becombined in any manner to form any number of other gestures. A gesturecan also be any form movement or positioning (e.g., of a body part orphysical object) recognized by the computing device 100 and converted toelectronic signals. Such electronic signals can activate a hapticeffect, such as substantially continuous haptic feedback, where theposition sensor 104 captures the user intent that generates a hapticeffect.

In some embodiments, one or both coils may further comprise a ferritematerial the coil on the moveable surface may comprise a ferrite). Thus,movement in this coil (e.g., when the user presses the moveable surface)will cause the inductance to change in the other coil (e.g., the coil onthe fixed surface). The controller may use this change in inductance inorder detect movement of the moveable surface or an amount of pressureapplied to the moveable service.

In some embodiments, the computing device may be configured to charge amobile device, such as, one or more of: a joystick, a wireless mouse, atablet, a mobile device, a media player, or a speaker. In such anembodiment the computing device may comprise a sensor configured todetect the presence of a mobile device on or near the moveable surface.When the mobile device is detected the controller applies alternatingcurrent (AC current) to one or more of the coils. This alternatingcurrent induces a current on a corresponding coil associated with themobile device, via the transformer effect, and charges a batteryassociated with the mobile device.

In some embodiments, the low profile haptic actuator may comprise ahaptic tape. The haptic tape may comprise a flexible material comprisingone or more opposing coils. When a controller associated with the tapeapplies current to the opposing coils ay attract or repel each other,distorting portions of the haptic tape. These distortions may beperceived by the user as haptic feedback. Such a haptic tape may be usedto output haptic feedback on many surfaces not commonly associated withhaptic feedback, e.g., handrails, seat surfaces, desktops, interfacessuch as steering wheels, brakes, or gearshifts, or any other surface onwhich a haptic tape may be placed.

Illustrative System for a Low Profile Haptic Actuator

FIG. 1A shows an illustrative system 100 for a low profile hapticactuator. Particularly, in this example, system 100 comprises acomputing device 101 having a processor 102 interfaced with otherhardware via bus 106. A memory 104, which can comprise any suitabletangible (and non-transitory) computer-readable medium such as RAM, ROM,EEPROM, or the like, embodies program components that configureoperation of the computing device. In this example, computing device 101further includes one or more network interface devices 110, input/output(I/O) interface components 112, and additional storage 114.

Network device 110 can represent one or more of any components thatfacilitate a network connection. Examples include, but are not limitedto, wired interfaces such as Ethernet, USB, IEEE 1394, and/or wirelessinterfaces such as IEEE 802.11, Bluetooth, or radio interfaces foraccessing cellular telephone networks (e.g., transceiver/antenna foraccessing a CDMA, GSM, UMTS, or other mobile communications network(s)).

I/O components 112 may be used to facilitate connection to devices suchas one or more displays, touch screen displays, keyboards, mice,speakers, microphones, cameras, and/or other hardware used to input dataor output data. Storage 114 represents nonvolatile storage such asmagnetic, optical, or other storage media included in device 101.

System 100 further includes a touch surface 116, which, in this example,is integrated into device 101. Touch surface 116 represents any surfacethat is configured to sense touch input of a user. One or more sensors108 are configured to detect a touch in a touch area when an objectcontacts a touch surface and provide appropriate data for use byprocessor 102. Any suitable number, type, or arrangement of sensors canbe used. For example, resistive and/or capacitive sensors may beembedded in touch surface 116 and used to determine the location of atouch and other information, such as pressure. As another example,optical sensors with a view of the touch surface may be used todetermine the touch position.

In some embodiments, sensor 108, touch surface 116, and I/O components112 may be integrated into a single component such as a touch screendisplay. For example, in some embodiments, touch surface 116 and sensor108 may comprise a touch screen mounted overtop of a display configuredto receive a display signal and output an image to the user. In otherembodiments, the sensor 108 may comprise an LED detector. For example,in one embodiment, touch surface 116 may comprise an LED finger detectormounted on the side of a display. In some embodiments, the processor 102is in communication with a single sensor 108, in other embodiments, theprocessor 102 is in communication with a plurality of sensors 108, forexample, a first touch screen and a second touch screen. The sensor 108is configured to detect user interaction and, based on the userinteraction, transmit signals to processor 102. In some embodiments,sensor 108 may be configured to detect multiple aspects of the userinteraction. For example, sensor 108 may detect the speed and pressureof a user interaction and incorporate this information into theinterface signal.

Device 101 further comprises a haptic output device 118. In the exampleshown in FIG. 1A haptic output device 118 is in communication withprocessor 102 and is coupled to touch surface 116. The embodiment shownin FIG. 1A comprises a single haptic output device 118. In otherembodiments, computing device 101 may comprise a plurality of hapticoutput devices.

In one embodiment, the haptic output device 118 may comprise a lowprofile haptic actuator. Such an actuator may comprise a coil coupled toa fixed surface and a coil coupled to a moving surface, wherein themoving surface is positioned above the fixed surface. The moveablesurface and the fixed surface may be held relatively close together by asuspension, e.g., a flexible or resilient material, spring, shockabsorber, or some other type of suspension system. A controller mayprovide AC or DC current to both coils, and depending on the polarity ofthe current applied to each coil, the coils will attract or repel oneanother. The action of repelling or attracting causes the moveablesurface to move, e.g., move vertically. Further, in some embodiments,the controller may rapidly change the polarity of the current, causingthe moving surface to move rapidly. A user may experience this movementas a haptic effect when interacting with the illustrative computingdevice.

In some embodiments, rather than a single coil, each of the fixedsurface and moveable surface of the low profile haptic actuator maycomprise a plurality of coils. This plurality of coils may enable morecomplex haptic effects, e.g., different haptic effects at differentlocations throughout a touch surface. Further, in some embodiments, themoveable surface and any components placed upon it may comprise aflexible material. Thus, in some embodiments, the haptic effects mayflex or vibrate this flexible surface in one or more locations in orderto output more complex haptic effects, such as localized haptic effects.In some embodiments, one or more coils may further comprise a ferritematerial. Thus, changing the distance between the coils (e.g., when theuser presses the moveable surface) will cause the inductance to changein the opposing coil. The controller may use this change in inductancein order to detect movement of the moveable surface or pressure appliedto the moveable surface.

In some embodiments, the haptic output device 118 may comprise a haptictape. The haptic tape may comprise a material comprising one or moreopposing coils. When a controller associated with the haptic tapeapplies current to one or more of the opposing coils, the coil mayattract or repel its opposing coil. This attraction or repulsion willdistort sections of the haptic tape. These distortions may be perceivedby the user as haptic feedback. In some embodiments the haptic tape maycomprise an adhesive material on one side, enabling it to be easilyplaced in a location. A haptic tape may be used to output hapticfeedback on many surfaces not commonly associated with haptic feedback,e.g., linear surfaces such as handrails, or other types of surfaces,such as seat surfaces, desktops, interfaces such as steering wheels,brakes, or gearshifts, or any other type of surface.

In some embodiments, haptic output device 118 may apply electrostaticfriction or attraction, for example by use of an electrostatic surfaceactuator, to simulatea texture on the surface of touch surface 116.Similarly, in some embodiments, haptic output device 118 may useelectrostatic attraction to vary the friction the user feels on thesurface of touch surface 116. For example, in one embodiment, hapticoutput device 118 may comprise an electrostatic display or any otherdevice that applies voltages and currents instead of mechanical motionto generate a haptic effect. In such an embodiment, an electrostaticactuator may comprise a conducting layer and an insulating layer. Insuch an embodiment, the conducting layer may be any semiconductor orother conductive material, such as copper, aluminum, gold, or silver.And the insulating layer may be glass, plastic, polymer, or any otherinsulating material. Furthermore, the processor 102 may operate theelectrostatic actuator by applying an electric signal to the conductinglayer. The electric signal may be an AC signal that, in someembodiments, capacitively couples the conducting layer with an objectnear or touching touch surface 116. In some embodiments, the AC signalmay be generated by a high-voltage amplifier. In other embodiments thecapacitive coupling may simulate a friction coefficient or texture onthe surface of the touch surface 116. For example, in one embodiment,the surface of touch surface 116 may be smooth, but the capacitivecoupling may produce an attractive force between an object near thesurface of touch surface 116. In some embodiments, varying the levels ofattraction between the object and the conducting layer can vary thesimulated texture on an object moving across the surface of touchsurface 116 or vary the coefficient of friction felt as the object movesacross the surface of touch surface 116. Furthermore, in someembodiments, an electrostatic actuator may be used in conjunction withtraditional actuators to output haptic effects. In such an embodiment,the actuators may vibrate, while at the same time an electrostaticactuator may simulate a different texture, or other effects, on thesurface of touch surface 116.

Although a single haptic output device 118 is shown here, embodimentsmay use multiple haptic output devices of the same or different type tooutput haptic effects. For example, haptic output device 118 maycomprise one or more of, for example, a piezoelectric actuator, anelectric motor, an electro-magnetic actuator, a voice coil, a shapememory alloy, an electro-active polymer, a solenoid, an eccentricrotating mass motor (ERM), or a linear resonant actuator (LRA), a lowprofile haptic actuator, a haptic tape, or a haptic output deviceconfigured to output an electrostatic effect, such as an ElectrostaticFriction (ESF) actuator. In some embodiments, haptic output device 118may comprise a plurality of actuators, for example a low profile hapticactuator, a piezoelectric actuator, and an

Turning to memory 104, exemplary program components 124, 126, and 128are depicted to illustrate how a device may be configured to determineand output haptic effects. In this example, a detection module 124configures processor 102 to monitor touch surface 116 via sensor 108 todetermine a position of a touch. For example, module 124 may samplesensor 108 in order to track the presence or absence of a touch and, ifa touch is present, to track one or more of the location, path,velocity, acceleration, pressure, and/or other characteristics of thetouch over time.

Haptic effect determination module 126 represents a program componentthat analyzes data regarding touch characteristics to select a hapticeffect to generate. Particularly, module 126 comprises code thatdetermines, based on the location of the touch, a simulated feature togenerate on the touch surface. Module 126 may further comprise code thatselects one or more haptic effects to provide in order to simulate thefeature. For example, some or all of the area of touch surface 116 maybe mapped to a graphical user interface. Different haptic effects may beselected based on the location of a touch in order to simulate thepresence of the feature by simulating a texture on a surface of touchsurface 116 so that the feature is felt when a correspondingrepresentation of the feature is seen in the interface. However, hapticeffects may be provided via touch surface 116 even if a correspondingelement is not displayed in the interface (e.g., a haptic effect may beprovided if a boundary in the interface is crossed, even if the boundaryis not displayed).

Haptic effect generation module 128 represents programming that causesprocessor 102 to generate and transmit a haptic signal to haptic outputdevice 118, which causes haptic output device 118 to generate theselected haptic effect. For example, generation module 128 may accessstored waveforms or commands to send to haptic output device 118. Asanother example, haptic effect generation module 128 may receive adesired type of haptic effect and utilize signal processing algorithmsto generate an appropriate signal to send to hap c output device 118. Asa further example, a desired haptic effect may be indicated along withtarget coordinates for the texture and an appropriate waveform sent toone or more actuators to generate appropriate displacement of thesurface (and/or other device components) to provide the haptic effect.Some embodiments may utilize multiple haptic output devices in concertto simulate a feature. For instance, a variation in texture may be usedto simulate crossing a boundary between buttons on an interface while avibrotactile effect simulates the response when the button is pressed.

A touch surface may or may not overlay (or otherwise correspond to) adisplay, depending on the particular configuration of a computingsystem. In FIG. 1B, an external view of a computing system 100B isshown. Computing device 101 includes a touch enabled display 116 thatcombines a touch surface and a display of the device. The touch surfacemay correspond to the display exterior or one or more layers of materialabove the actual display components.

FIG. 1C illustrates another example of a touch enabled computing system1000 in which the touch surface does not overlay a display. In thisexample, a computing device 101 features a touch surface 116 which maybe mapped to a graphical user interface provided in a display 122 thatis included in computing system 120 interfaced to device 101. Forexample, computing device 101 may comprise a mouse, trackpad, or otherdevice, while computing system 120 may comprise a desktop or laptopcomputer, set-top box (e.g., DVD player, DVR, cable television box), oranother computing system. As another example, touch surface 116 anddisplay 122 may be disposed in the same device, such as a touch enabledtrackpad in a laptop computer comprising display 122. Whether integratedwith a display or otherwise, the depiction of planar touch surfaces inthe examples herein is not meant to be limiting. Other embodimentsinclude curved or irregular touch enabled surfaces that are furtherconfigured to provide surface-based haptic effects.

FIGS. 2A-2B illustrate an example of a system 200 comprising a coil foruse in a low profile haptic actuator according to one embodiment. Asshown in FIG. 2A, system 200 comprises a coil 202 and controller 204.Coil 202 may comprise any conductive material. In some embodiments, coil202 may comprise flex circuit technology, enabling the coil to beflexible. In some embodiments multiple coils 202 may be stacked on topof each other to increase the strength of magnetic fields associatedwith the coil.

System 200 further comprise a controller 204. Controller 204 maycomprise a processor, such as processor 102 described above.Alternatively, controller 204 may comprise a component in communicationwith, or controlled by, processor 102. Controller is configured toprovide a drive signal (e.g., an AC or DC signal) to coil 202 in orderto output a magnetic field, which may be used to output a haptic effect,e.g., by outputting a magnetic force attracting or opposing anothercoil. Further, in some embodiments, controller 204 may be configured toapply current to coil 202, which is used to wirelessly charge a mobiledevice using the “transformer effect,” wherein a current is induced in acorresponding coil in a mobile device when that mobile device is nearcoil 202. This induced current may be used to charge a battery of themobile device.

Controller 204 may comprise one or more of: relays, transistor circuits,op-amp circuits, power-supply circuits, H-Bridge driver amplifiers,batteries, capacitors, oscillator circuits (such as an L/C oscillator oran R/C oscillator). In some embodiments more than one controller 204 maybe used, e.g., one for each coil. In some embodiments the controller iscoupled to a processor (e.g., processor 102 described above), andoutputs current to one or more of the coils based on signals receivedfrom the processor. Alternatively, in some embodiments, the controllercomprises a processor, memory, and programming instructions for itsoperation.

In some embodiments, the coil 202 may be embedded in a surface using athin film technology. For example, in some embodiments, the coil 202 maybe embedded in a touch surface, a support surface, or a surfaceassociated with a haptic tape. In some embodiments, thin film technologymay be used to embed a coil with a thickness in the micron range into asurface.

FIG. 2B illustrates another example of a system 250 comprising a coilfor use in a low profile haptic actuator according to one embodiment. Asshown in FIG. 2A, system 200 comprises a coil 252 and controller 254.The system 250 is similar to system 200 described above with regard toFIG. 2A, however, as shown in FIG. 2B, system 250 further comprises aferrite 256 associated with coil 252. Ferrite 256 may comprise any formof ferrous material, e.g., a hard or a soft ferrite.

When coil 252 moves near another coil the inductance of that coil willbe changed. A controller may measure this change in inductance todetermine that coil 252 and its ferrite 256 have moved. Thus, in someembodiments, the low profile haptic actuator may be used to outputhaptic effects and also to detect user interaction (e.g., to detect thatthe user has pressed on a surface, such as a touch surface, associatedwith coil 252). This interaction may comprise one or more of movement ofthe coil 252 and ferrite 256 or pressure applied to a surface associatedwith coil 252 and ferrite 256.

Turning now to FIG. 3A, FIG. 3A comprises an example embodiment for alow profile haptic actuator 300 according to the present disclosure. Asshown in FIG. 3A, the low profile haptic actuator 300 comprises a movingsurface 302 and a fixed surface 304. Each of surfaces 306 and 308comprises a coil, moving surface 302 comprises a coil 306 and fixedsurface 304 comprises a coil 308. Each of coils 306 and 308 may comprisea structure similar to coils 200 and 250 described above with regard toFIGS. 2A and 2B. Further, as shown in FIG. 3A two suspensions 310support moving surface 302 above fixed surface 304. Suspensions 310 maycomprise one or more of: a flexible or resilient material, spring, shockabsorber, or some other type of suspension system.

In the embodiment shown in FIG. 3A when one or more controllers providea current to one or both of coils 306 and 308 the coils will beattracted or repelled. This causes moving surface 302 to move. A userinteracting with moving surface 302 will interpret this movement as ahaptic effect. Further, in some embodiments, a touch sensitiveinterface, such as a touch pad or a touch-screen display, may be mountedovertop of moving surface 302. Thus, the haptic effect may be output asthe user interacts with features of a graphical user interface shown ona display associated with the touch sensitive interface.

Further, in some embodiments, one of coils 306 or 308 may furthercomprise a ferrite, as described above with regard to FIG. 2B. In suchan embodiment, a controller may be configured to detect the change ininductance in one or both of the coils as the coil moves. Thus,embodiments of the present disclosure may be used to both output hapticeffects and to detect movement or pressure, e.g., movement of atouch-sensitive interface positioned overtop of moving surface 302.

Further, in some embodiments, one of coils 306 or 308 may be replacedwith one or more permanent magnets. The permanent magnet may similarlyrepel or attract the opposing coil depending on the polarity of themagnet and the current flowing through the opposing coil.

Turning now to FIG. 3B, FIG. 3B illustrates another embodiment of a lowprofile haptic actuator 350 according to the present disclosure. Asshown in FIG. 3B, the low profile haptic actuator 350 comprises a movingsurface 352 and a fixed surface 354. Further, as shown in FIG. 3A twosuspensions 310 support moving surface 352 above fixed surface 354.Suspensions 310 may comprise one or more of: a flexible or resilientmaterial, spring, shock absorber, or some other type of suspensionsystem.

Further, as shown in FIG. 3B, each of moveable surfaces 306 and 308comprises a plurality of coils, moving surface 302 comprises coils 356,360, and 364, and fixed surface 304 comprises coils 358, 362, and 366.Each of these coils may comprise a structure similar to coils 200 and250 described above with regard to FIGS. 2A and 2B. In otherembodiments, the moving surface 352 and fixed surface 354 may comprisemore or fewer coils.

In the embodiment shown in FIG. 3B when one or more controllers providea current to one or more pairs of coils (e.g., coils 356 and 358), thatpair of coils will be attracted or repelled. This causes moving surface352 to move. A user interacting with moving surface 352 will interpretthis movement as a haptic effect. Further, in some embodiments, movingsurface 352 further comprises a flexible surface. In such an embodiment,each pair of coils may output a haptic effect at a location isolatedfrom the other coil pairs. Such an embodiment may enable complex hapticeffects, e.g., ripples or waives moving across a touch surface,localized haptic effects, and/or surface deformations.

Further, in some embodiments, one or more of the coils may furthercomprise a ferrite, as described above with regard to FIG. 2B. In suchan embodiment, a controller may be configured to detect the change ininductance in one or both of the coils as a coil in the coil pair moves.Thus, embodiments of the present disclosure may be used to both outputhaptic effects and to detect movement or pressure, e.g., movement of atouch-sensitive interface positioned overtop of moving surface 352 orpressure at a specific location on the touch-sensitive interface,

Further, in some embodiments, one or more of coils 356, 358, 360, 362,364, or 366 may be replaced with one or more permanent magnets. Thepermanent magnet may similarly repel or attract the opposing coildepending on the polarity of the magnet and the current flowing throughthe opposing coil.

Turning now to FIG. 4, FIG. 4 comprises a system 400 according to oneembodiment of the present disclosure. The system 400 comprise a lowprofile haptic actuator 402. The low profile haptic actuator 402 maycomprise a system similar to the systems 300 and 350 described abovewith regard to FIGS. 3A and 3B. Further, as shown in FIG. 3, a touchsensitive interface 404 may be coupled overtop of the low profile hapticactuator 402. The touch sensitive interface 404 may comprise aperipheral device for interacting with a computer, e.g., a touch pad ora touch screen.

As shown in FIG. 4, the system 400 further comprises a mobile device406. The mobile device 406 may comprise one or more of, for example, ajoystick, a wireless mouse, a tablet, a mobile device, a media player,or a speaker. The mobile device 406 further comprises a coil. When themobile device is placed close to low profile haptic actuator 402, one ormore of the coils in the low profile haptic actuator 402 may induce acurrent onto this coil via the transformer effect. This current may beused to apply power to the mobile device, e.g., to wirelessly charge itsbattery. Thus, according to some embodiments of the present disclosure,a low profile haptic actuator may be used both to output haptic effectsan also to wirelessly power mobile devices.

Turning now to FIG. 5, FIG. 5 comprises another example embodiment of alow profile haptic actuator 500. As shown in FIG. 5, the system 500comprises a haptic tape. The haptic tape comprises a plurality of coilpairs. When current is applied to one of these coil pairs the pair willeither repel or attract, as described above. Thus, a controllerassociated with the haptic tape may determine and output haptic effectsat isolated points on the haptic tape or along the entirety of thehaptic tape.

In some embodiments, the haptic tape may comprise a plurality of thesecoil pairs and be both relatively thin and flexible. Thus, the haptictape may be configured to be placed along surfaces not normallyassociated with haptic effects, e.g., a handrail, a seat back, adashboard, a desktop, a door, a wall, or some other surface.

Turning now to FIG. 6, FIG. 6 comprises another embodiment of a lowprofile haptic actuator according to one embodiment of the presentdisclosure. FIG. 6 shows a laptop computer 600. In other embodiments,rather than a laptop, the computer may comprise a desktop computer or amultifunction controller. For example, a controller for use in a kiosk,ATM, or other computing device. Further, in some embodiments, computingdevice may comprise a controller for use in a vehicle, such as anautomobile, airplane, boat, electric-cart, construction equipment, orsome other vehicle. Further, in some embodiments, computing device maycomprise a controller for use in an appliance, e.g., a refrigerator,oven, dishwasher, washing machine, or any other appliance.

As shown in FIG. 6, the laptop computer 600 comprises a display 602, akeyboard 604, and a touch pad 606. In the embodiment shown in FIG. 6,the touch surface 606 may comprise a low profile haptic actuatoraccording to the embodiments described above, e.g., the embodimentsdescribed with regard to FIGS. 3A, 3B, and/or 4. As described above,this low profile haptic actuator may be used to output haptic effects tothe user via the touch pad 606. Further, the low profile haptic actuatormay be configured to remotely charge one or more mobile devices whenplaced over top of the touch pad 606.

In one embodiment, a low profile haptic actuator may comprise a coilcoupled to a fixed surface and a coil coupled to a moving surface,wherein the moving surface is positioned above the fixed surface. Themoveable surface and the fixed surface may be held relatively closetogether by a suspension, e.g., a flexible or resilient material,spring, shock absorber, or some other type of suspension system. Acontroller may provide current to both coils and, depending on thepolarity of the current applied to each coil, the coils will attract orrepel one another. The action of repelling or attracting causes themoveable surface to move vertically. Further, in some embodiments, thecontroller may rapidly change the polarity of the current, causing themoving surface to move rapidly. A user may experience this movement as ahaptic effect when interacting with the illustrative computing device.

Illustrative Methods for a Low Profile Haptic Actuator

FIG. 7 is a flow chart for operation of a low profile haptic actuatoraccording to one embodiment. In some embodiments, the steps in FIG. 7may be implemented in program code executed by a processor, for example,the processor in a general purpose computer, mobile device, or server.In some embodiments, these steps may be implemented by a group ofprocessors. In some embodiments the steps shown in FIG. 7 may beperformed in a different order. Alternatively, in some embodiments, oneor more of the steps shown in FIG. 7 may be skipped, or additional stepsnot shown in FIG. 7 may be performed. The steps below are described withreference to components described above with regard to system 100 shownin FIG. 1A.

The method 700 begins at step 702 when processor 102 receives an inputsignal from sensor 108. Sensor 108 may comprise one or more of aplurality of sensors known in the art, for example, resistive and/orcapacitive sensors may be embedded in touch surface 116 and used todetermine the location of a touch and other information, such aspressure. As another example, optical sensors with a view of the touchsurface may be used to determine the touch position. In still otherembodiments, sensors 108 and touch surface 116 may comprise a torchscreen display.

Next, at step 704, the processor 102 determines a haptic effect. In someembodiments, the haptic effect may comprise a vibration or surfacedeformation type effect that the user perceives via touch surface 116.In some embodiments, processor 102 may rely on programming contained inhaptic effect determination module 126 to determine the haptic effect.For example, the processor 102 may access drive signals stored in memory104 and associated with particular haptic effects. As another example, asignal may be generated by accessing a stored algorithm and inputtingparameters associated with an effect. For example, an algorithm mayoutput data for use in generating a drive signal based on amplitude andfrequency parameters. As another example, a haptic signal may comprisedata sent to an actuator to be decoded by the actuator. For instance,the actuator may itself respond to commands specifying parameters suchas amplitude and frequency.

Further, in some embodiments, users may be able to select a hapticeffect in order customize computing device 101. For example, in someembodiments, a user may select a haptic effect such as a particularvibration or deformation to allow for personalization of the feel of atouch interface. In some embodiments, the user may select thesepersonalized haptic effects through modifying settings or downloadingsoftware associated with particular effects. In other embodiments, theuser may designate effects through detected interaction with the device.In some embodiments, this personalization of haptic effects may increasethe user's sense of ownership and the connection between the user andhis or her device.

In still other embodiments, device manufacturers or software developersmay select distinctive haptic effects to brand their devices or userinterfaces. In some embodiments, these haptic effects may be unique tobranded devices and similar to other distinctive elements that mayincrease brand awareness. For example, many mobile devices and tabletsmay comprise a custom or branded home screen environment. For example,in some embodiments, devices produced by different manufacturers maystill comprise the same operating system; however, manufacturers maydistinguish their devices by modifying this home screen environment.Thus, in some embodiments, some device manufacturers or softwaredevelopers may use haptic effects such as vibrations or surfacedeformations either in home screens or in other user interfaces tocreate a unique and differentiated user experience.

The method 700 continues when processor 102 outputs a haptic signalassociated with the haptic effect 706. The processor 102 outputs thehaptic signal to a haptic output device 118 configured to output thehaptic effect. In some embodiments, haptic output device 118 maycomprise a low profile haptic actuator. In some embodiments, processor102 may control a plurality of haptic output devices to simulatemultiple haptic effects. For example, in one embodiment, processor 102may control an electrostatic actuator to simulate a texture on thesurface of touch surface 116 and processor 102 may further control a lowprofile haptic actuator to simulate other features.

FIG. 8 is a flow chart for operation of a low profile haptic actuatoraccording to one embodiment. In some embodiments, the steps in FIG. 8may be implemented in program code executed by a processor, for example,the processor in a general purpose computer, mobile device, or server.In some embodiments, these steps may be implemented by a group ofprocessors. In some embodiments the steps shown in FIG. 8 may beperformed in a different order. Alternatively, in some embodiments, oneor more of the steps shown in FIG. 8 may be skipped, or additional stepsnot shown in FIG. 8 may be performed. The steps below are described withreference to components described above with regard to system 100 shownin FIG. 1A.

The method 800 begins when processor 102 receives a sensor signal 802.The sensor signal may be received from sensors 108 or from input/outputdevices 102. The sensor signal may indicate that a mobile devicecomprising remote charging capability has been placed near a low profilehaptic actuator. For example, the sensor signal may comprise user inputon a peripheral device such as a touch pad, keyboard, or keypad, ortouchscreen that a device comprising remote charging capability is neara low profile haptic actuator. Alternatively, in sonic embodiments,sensors may be configured to detect the presence of a mobile devicecomprising remote charging capability.

At step 804 the processor 102 determines that a device comprising remotecharging capability is present. The processor 102 makes thisdetermination based on the sensor signal received at step 802 above.

At step 806 the processor 102 controls a controller to output a signal.The signal comprises a current output to one or more coils associatedwith a low profile haptic actuator. This current is configured to inducea current on a coil associated with the mobile device via thetransformer effect. The induced current may be used to power the mobiledevice, e.g., to charge its battery or power its other operations.

Advantages of a Low Profile Haptic Actuator

There are numerous advantages of a low profile haptic actuator. Oneadvantage is a very compact actuator for outputting haptic effects.Further, embodiments disclosed herein may enable more complex hapticeffects than other actuators, e.g., ripple or waive effects. Further,embodiments disclosed herein may enable actuators to be used formultiple purposes, e.g., outputting haptic effects, detecting userinteraction, and charging mobile devices. Further, embodiments disclosedherein may enable haptic effects to be incorporated into a broader rangeof locations and device types. This may increase user satisfaction andfurther adoption of mobile devices featuring haptic effects.

General Considerations

The methods, systems, and devices discussed above are examples. Variousconfigurations may omit, substitute, or add various procedures orcomponents as appropriate. For instance, in alternative configurations,the methods may be performed in an order different from that described,and/or various stages may be added, omitted, and/or combined. Also,features described with respect to certain configurations may becombined in various other configurations. Different aspects and elementsof the configurations may be combined in a similar manner. Also,technology evolves and, thus, many of the elements are examples and donot limit the scope of the disclosure or claims.

Specific details are given in the description to provide a thoroughunderstanding of example configurations (including implementations).However, configurations may be practiced without these specific details.For example, well-known circuits, processes, algorithms, structures, andtechniques have been shown without unnecessary detail in order to avoidobscuring the configurations. This description provides exampleconfigurations only, and does not limit the scope, applicability, orconfigurations of the claims. Rather, the preceding description of theconfigurations will provide those skilled in the art with an enablingdescription for implementing described techniques. Various changes maybe made in the function and arrangement of elements without departingfrom the spirit or scope of the disclosure.

Also, configurations may be described as a process that is depicted as aflow diagram or block diagram. Although each may describe the operationsas a sequential process, many of the operations can be performed inparallel or concurrently. In addition, the order of the operations maybe rearranged. A process may have additional steps not included in thefigure. Furthermore, examples of the methods may be implemented byhardware, software, firmware, middleware, microcode, hardwaredescription languages, or any combination thereof. When implemented insoftware, firmware, middleware, or microcode, the program code or codesegments to perform the necessary tasks may be stored in anon-transitory computer-readable medium such as a storage medium.Processors may perform the described tasks.

Having described several example configurations, various modifications,alternative constructions, and equivalents may be used without departingfrom the spirit of the disclosure. For example, the above elements maybe components of a larger system, wherein other rules may takeprecedence over or otherwise modify the application of the invention.Also, a number of steps may be undertaken before, during, or after theabove elements are considered. Accordingly, the above description doesnot bound the scope of the claims.

The use of “adapted to” or “configured to” herein is meant as open andinclusive language that does not foreclose devices adapted to orconfigured to perform additional tasks or steps. Additionally, the useof “based on” is meant to be open and inclusive, in that a process,step, calculation, or other action “based on” one or more recitedconditions or values may, in practice, be based on additional conditionsor values beyond those recited. Headings, lists, and numbering includedherein are for ease of explanation only and are not meant to belimiting.

Embodiments in accordance with aspects of the present subject matter canbe implemented in digital or analog electronic circuitry, in computerhardware, firmware, software, or in combinations of the preceding. Inone embodiment, a computer may comprise a processor or processors. Theprocessor comprises or has access to a computer-readable medium, such asa random access memory (RAM) coupled to the processor. The processorexecutes computer-executable program instructions stored in memory, suchas executing one or more computer programs including a sensor samplingroutine, selection routines, and other routines to perform the methodsdescribed above.

Such processors may comprise a microprocessor, a digital signalprocessor (DSP), an application-specific integrated circuit (ASIC),field programmable gate arrays (FPGAs), and state machines. Suchprocessors may further comprise programmable electronic devices such asPLCs, programmable interrupt controllers (PICs), programmable logicdevices (PLDs), programmable read-only memories (PROMs), electronicallyprogrammable read-only memories (EPROMs or EEPROMs), or other similardevices.

Such processors may comprise, or may be in communication with, media,for example tangible computer-readable media, that may storeinstructions that, when executed by the processor, can cause theprocessor to perform the steps described herein as carried out, orassisted, by a processor. Embodiments of computer-readable media maycomprise, but are not limited to, all electronic, optical, magnetic, orother storage devices capable of providing a processor, such as theprocessor in a web server, with computer-readable instructions. Otherexamples of media comprise, but are not limited to, a floppy disk,CD-ROM, magnetic disk, memory chip, ROM, RAM, ASIC, configuredprocessor, all optical media, all magnetic tape or other magnetic media,or any other medium from which a computer processor can read. Also,various other devices may include computer-readable media, such as arouter, private or public network, or other transmission device. Theprocessor, and the processing, described may be in one or morestructures, and may be dispersed through one or more structures. Theprocessor may comprise code for carrying out one or more of the methods(or parts of methods) described herein.

While the present subject matter has been described in detail withrespect to specific embodiments thereof, it will be appreciated thatthose skilled in the art, upon attaining an understanding of theforegoing may readily produce alterations to, variations of, andequivalents to such embodiments. Accordingly, it should be understoodthat the present disclosure has been presented for purposes of examplerather than limitation, and does not preclude inclusion of suchmodifications, variations and/or additions to the present subject matteras would be readily apparent to one of ordinary skill in the art.

What is claimed:
 1. A system for a low profile haptic actuatorcomprising: a moveable surface comprising two or more first coils, themoveable surface configured to move in a degree of freedom; a fixedsurface beneath the moveable surface, the fixed surface comprising twoor more second coils coupled underneath the two or more first coils; asuspension coupled to the fixed surface and the moveable surface andconfigured to support the moveable surface, wherein the moveable surfacecomprises a flexible surface; and a controller electrically coupled tothe two or more first coils and the two or more second coils, thecontroller configured to apply current to one of the two or more firstcoils and one of the two or more second coils without applying currentto others of the two or more first coils and two or more second coils.2. The system of claim 1, wherein the moveable surface comprises a touchsensitive interface configured to detect user interaction.
 3. The systemof claim 1, wherein the moveable surface further comprises a ferritematerial.
 4. The system of claim 3, wherein the controller is configuredto detect a change in inductance in one or more of the second coils,wherein the change in inductance is associated with one or more ofmovement of the moveable surface or pressure applied to the moveablesurface.
 5. The system of claim 1, wherein the controller is configuredto apply current to one or both of the two or more first coils and thetwo or more second coils.
 6. The system of claim 5, wherein thecontroller is configured to determine a haptic effect and wherein thecurrent is configured to cause the two or more first coils to move themoveable surface to output the haptic effect.
 7. The system of claim 5,wherein the current is configured to charge a battery of a device nearthe moveable surface.
 8. The system of claim 7, further comprising asensor configured to detect a presence of the device, and wherein thecontroller is configured to output the current when the device ispresent.
 9. The system of claim 7, wherein the device comprises one ormore of: a joystick, a wireless mouse, a tablet, a mobile device, amedia player, or a speaker.
 10. The system of claim 1, wherein thecontroller is configured to apply current to the first coils and thesecond coils to move the first coils to output a haptic effect.
 11. Asystem for a low profile haptic actuator comprising: a moveable surfacecomprising a plurality of moveable coils, the moveable surfaceconfigured to move in a degree of freedom, the moveable surfacecomprising a material configured to flex at the location of each of theplurality of moveable coils; a fixed surface beneath the moveablesurface, the fixed surface comprising a plurality of fixed coils coupledunderneath the plurality of moveable coils; a suspension coupled to thefixed surface and the moveable surface and configured to support themoveable surface; and a controller coupled to the plurality of moveablecoils and the plurality of fixed coils, the controller configured tocontrol each of the plurality of moveable coils and each of theplurality of fixed coils independently of other coils.
 12. The system ofclaim 11, wherein the moveable surface comprises a touch sensitiveinterface configured to detect user interaction.
 13. The system of claim11, wherein the moveable surface further comprises a ferrite material.14. The system of claim 13, wherein the controller is configured todetect a change in inductance in one or more of the plurality of fixedcoils, wherein the change in inductance is associated with one or moreof movement of the moveable surface or pressure applied to the moveablesurface.
 15. The system of claim 11, wherein the controller isconfigured to apply current to one or more of the moveable coils. 16.The system of claim 15, wherein the controller is configured todetermine a haptic effect and wherein the current is configured to causeone or more of the moveable coils to move the moveable surface to outputthe haptic effect.
 17. The system of claim 15, wherein the current isconfigured to charge a battery of a device near the moveable surface.18. The system of claim 17, further comprising a sensor configured todetect a presence of the device, and wherein the controller isconfigured to output the current when the device is present.
 19. Thesystem of claim 17, wherein the device comprises one or more of: ajoystick, a wireless mouse, a tablet, a mobile device, a media player,or a speaker.